I also had an abusive XP who refused to leave. We had no money, he was very financially abusive as well as emotionally and mentally, ocassionally physically.
I found many people would judge me and say I had made the choice to stay with him.
Deep down they are right, but I wasn't ready to give up everything to eradicate him from my life.
He never went out without keys to the house and car. He refused to leave my house, and I was actually told by the police, who I called to have him removed, that since he had lived in my house for more than 2 years, he was just as entitled to live there as I was.
I was asked to leave my DD with my XP in my house and go somewhere else for the night myself. 
I lost faith in the police after that tbh.
I eventually got rid of my XP when I called the police AGAIN and on the phone they agreed they'd remove him from my home, and reassured me that he would be leaving without DD, she would be left with me.
As it happens, when police arrived, they decided to let XP take DD to his parents, who were on their way to collect XP and DD, and then proceeded to blackmail me with only having DD back if I resumed my relationship with him.
Never!!!!!
I have lost all faith in the police since then. I have been single for 2 years now, thank goodness!!
My main problem was I was completely unaware of my rights, and that was my problem for a long long time. I didn't know the law, so assumed the police knew what they were talking about, assumed they had the power to evict me from my home so my XP could stay there.